ROBOTICS

Course Syllabus   Fall 2016  
Announcements      
     + RobotWorld 2016 (http://www.robotworld.or.kr/): 
         Date: Oct. 12 (Wed) - 15 (Sat), 2015, 10:00 am - 5:00 pm, Place: KINTEX 1, Enterance fee is 10,000 Won, but free if you pre-register.    
      + 10.21~11.5 사이에 우리학교 종합정보시스템 (공학인증)으로 들어가 로보틱스 중간설문조사에 답해 주기 바랍니다.

      + 12.01~12. 24. 사이에 우리학교 종합정보시스템에서 강의평가 해 주세요.
      +
QE Prize (Nobel prize in Engineering) (1 million pounds)
      +  
우리 삶을 바꿀 2045년 미래로봇은? 로봇신문 2015년10월25일자   pdf 파일  
     +  Team grouping 

Industrial Robot Animations
      Articulated configuration (PUMA robot :   Right Up   Right Down   Left Up   Left Down )
      Spherical configuration
(Stanford manipulator)
      
SCARA configuration
      
Cartesian configuration

Humanoid Robot Demos
      Asimo (Courtesy of Honda, Japan)     Hubo (Courtesy of MCLab, KAIST, Korea)    

Course Materials   Click here  

References
     Papers:
       
J. Denavit and R. S. Hartenberg, "A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices," ASME Journal of Applied Mechanics, vol. 22, pp. 215-221, 1955. 
       T. Yoshikawa, "Manipulability of Robotic Mechanism," The International Journal of Robotics Research, vol. 4, pp. 3-9, 1985.
       
로보사피엔스 논문  
       
김주용,강철구, "반송용 로봇의 기구학적 해석," 건국기술연구논문지, 27:85-90, 2002.  
       
이석우,하성민,강철구, "머니퓰레이터를 장착한 무선통신 나선형 기둥등반로봇," 한국로봇학회논문지, 10(4):213-222, 2015.  
       
강철구, "역미분기구학의 해 공간," 한국로봇학회논문지, 10(4):230-244, 2015.  
     Manuals:
       
삼성Fara Robot 사용설명서
     Programs:
       
RoboticsToolbox Program (MATLAB)  RoboticsToolbox Command List (MATLAB)
       
RoboticsToolbox Program (CEMTool)
       
Mark Spong's Memorial Workshop (60th birthday)

Assignments

      Homework #0:  Read the course material, 2010 Industrial Robot Statistics by IFR  (non-evaluating homework; do not submit it)
      Homework #1:  
      Homework #2:   

      Homework #3:     
      Homework #4:
      Homework #5:
      Homework #6:  
      Term Project:  
IK Solution Example   
      
 

Corrections
     Problem 4-10: " ... Use the facts that..."  instead of "... Use the acts that..."
     Problem 4-15: "Two fixed frames ..." instead of "Two frames ..."
     Equation (4.99) of Page 144: Add - sign, i.e., det J11 = -a2 ..."
     Equation (4.121) of Page 153: Remove the transpose T, i.e.,  ξ^T (JJ^T)^(-1) ξ
     Below Eq. (4.124) of page 154: "in which λ1^2 ≥ λ2^2 ... ≥ λm^2 are the eigenvalues of JJ^T " instead of "in which λ1 ≥ λ2 ... ≤ λm are the eigenvalues of J "
     Figure 3.8 in page 87,   Figure 3.11 in page 92     

Midterm Examination :   October 17, Mon. 9:00-10:30 pm, Rm 406, Engineering Bldg A,   

Final Examination :  December 14, Wed. 9:00-10:30 pm, Rm 406, Engineering Bldg A,    

Class Marks   Homeworks and Examinations  Grade  

Question?   Mail to cgkang@konkuk.ac.kr

Class Memories  
   Fall 2010: picture 1 and picture 2,        Fall 2011 class,        Fall 2012 class 2012 Photos        
   Fall 2013:  Fall 2013class  Adrien 1  Jaegun 1  Dongchan 1  Dongwha 1  Jeesuk 1  Sanghyun 1  Gyujin 1 Gyujin 3  Anna 1 
   Fall 2015: picture 1  and picture 2    Fall 2016 class    천안고학생visit  


Copyright (c) 1999-Present, Chul-Goo Kang. All rights reserved.
Last update: August15, 2016 by Chul-Goo Kang.

   AIAu E­¸e